//三角步态前进，步幅2*pi*a=2*pi*0.01=6.28厘米
float forwarda[40][18] = {
16.11,-45.44,-44.11,-12.33,-44.23,-39.34,-16.30,-45.17,-48.35,16.11,-44.95,-43.75,-12.33,-44.68,-39.67,-16.30,-44.64,-47.97,
15.94,-46.87,-45.17,-12.21,-44.25,-39.42,-16.10,-46.72,-49.45,15.94,-44.96,-43.78,-12.21,-46.03,-40.72,-16.10,-44.65,-47.95,
15.49,-49.16,-46.88,-11.90,-44.30,-39.63,-15.56,-49.21,-51.17,15.49,-44.96,-43.85,-11.90,-48.20,-42.44,-15.56,-44.66,-47.90,
14.64,-52.16,-49.12,-11.31,-44.38,-40.00,-14.59,-52.48,-53.36,14.64,-44.97,-43.98,-11.31,-51.06,-44.78,-14.59,-44.69,-47.79,
13.32,-55.68,-51.72,-10.39,-44.50,-40.56,-13.09,-56.30,-55.79,13.32,-44.98,-44.16,-10.39,-54.44,-47.61,-13.09,-44.73,-47.62,
11.49,-59.42,-54.47,-9.08,-44.64,-41.30,-11.09,-60.33,-58.20,11.49,-44.99,-44.38,-9.08,-58.11,-50.75,-11.09,-44.79,-47.36,
9.16,-63.06,-57.11,-7.37,-44.78,-42.18,-8.64,-64.12,-60.28,9.16,-45.00,-44.61,-7.37,-61.79,-53.98,-8.64,-44.85,-46.98,
6.39,-66.16,-59.33,-5.25,-44.90,-43.13,-5.87,-67.13,-61.67,6.39,-45.00,-44.81,-5.25,-65.12,-57.03,-5.87,-44.92,-46.46,
3.29,-68.27,-60.83,-2.77,-44.97,-44.09,-2.93,-68.86,-62.08,3.29,-45.00,-44.95,-2.77,-67.67,-59.60,-2.93,-44.98,-45.80,
-0.00,-69.02,-61.36,0.00,-45.00,-45.00,-0.00,-69.02,-61.36,-0.00,-45.00,-45.00,0.00,-69.02,-61.36,-0.00,-45.00,-45.00,
-3.29,-68.27,-60.83,2.93,-44.98,-45.80,2.77,-67.67,-59.60,-3.29,-45.00,-44.95,2.93,-68.86,-62.08,2.77,-44.97,-44.09,
-6.39,-66.16,-59.33,5.87,-44.92,-46.46,5.25,-65.12,-57.03,-6.39,-45.00,-44.81,5.87,-67.13,-61.67,5.25,-44.90,-43.13,
-9.16,-63.06,-57.11,8.64,-44.85,-46.98,7.37,-61.79,-53.98,-9.16,-45.00,-44.61,8.64,-64.12,-60.28,7.37,-44.78,-42.18,
-11.49,-59.42,-54.47,11.09,-44.79,-47.36,9.08,-58.12,-50.75,-11.49,-44.99,-44.38,11.09,-60.33,-58.20,9.08,-44.64,-41.30,
-13.32,-55.68,-51.72,13.09,-44.73,-47.62,10.39,-54.44,-47.61,-13.32,-44.98,-44.16,13.09,-56.30,-55.79,10.39,-44.50,-40.56,
-14.64,-52.16,-49.12,14.59,-44.69,-47.79,11.31,-51.06,-44.78,-14.64,-44.97,-43.98,14.59,-52.48,-53.36,11.31,-44.38,-40.00,
-15.49,-49.16,-46.88,15.56,-44.66,-47.90,11.90,-48.20,-42.44,-15.49,-44.96,-43.85,15.56,-49.21,-51.17,11.90,-44.30,-39.63,
-15.94,-46.87,-45.17,16.10,-44.65,-47.95,12.21,-46.03,-40.72,-15.94,-44.96,-43.78,16.10,-46.72,-49.45,12.21,-44.25,-39.42,
-16.11,-45.44,-44.11,16.30,-44.64,-47.97,12.33,-44.69,-39.67,-16.11,-44.95,-43.75,16.30,-45.17,-48.35,12.33,-44.23,-39.34,
-16.14,-44.95,-43.75,16.33,-44.64,-47.97,12.35,-44.23,-39.33,-16.14,-44.95,-43.75,16.33,-44.64,-47.97,12.35,-44.23,-39.33,
-16.11,-44.95,-43.75,16.30,-45.17,-48.35,12.33,-44.23,-39.34,-16.11,-45.44,-44.11,16.30,-44.64,-47.97,12.33,-44.68,-39.67,
-15.94,-44.96,-43.78,16.10,-46.72,-49.45,12.21,-44.25,-39.42,-15.94,-46.87,-45.17,16.10,-44.65,-47.95,12.21,-46.03,-40.72,
-15.49,-44.96,-43.85,15.56,-49.21,-51.17,11.90,-44.30,-39.63,-15.49,-49.16,-46.88,15.56,-44.66,-47.90,11.90,-48.20,-42.44,
-14.64,-44.97,-43.98,14.59,-52.48,-53.36,11.31,-44.38,-40.00,-14.64,-52.16,-49.12,14.59,-44.69,-47.79,11.31,-51.06,-44.78,
-13.32,-44.98,-44.16,13.09,-56.30,-55.79,10.39,-44.50,-40.56,-13.32,-55.68,-51.72,13.09,-44.73,-47.62,10.39,-54.44,-47.61,
-11.49,-44.99,-44.38,11.09,-60.33,-58.20,9.08,-44.64,-41.30,-11.49,-59.42,-54.47,11.09,-44.79,-47.36,9.08,-58.11,-50.75,
-9.16,-45.00,-44.61,8.64,-64.12,-60.28,7.37,-44.78,-42.18,-9.16,-63.06,-57.11,8.64,-44.85,-46.98,7.37,-61.79,-53.98,
-6.39,-45.00,-44.81,5.87,-67.13,-61.67,5.25,-44.90,-43.13,-6.39,-66.16,-59.33,5.87,-44.92,-46.46,5.25,-65.12,-57.03,
-3.29,-45.00,-44.95,2.93,-68.86,-62.08,2.77,-44.97,-44.09,-3.29,-68.27,-60.83,2.93,-44.98,-45.80,2.77,-67.67,-59.60,
0.00,-45.00,-45.00,0.00,-69.02,-61.36,-0.00,-45.00,-45.00,-0.00,-69.02,-61.36,0.00,-45.00,-45.00,-0.00,-69.02,-61.36,
3.29,-45.00,-44.95,-2.77,-67.67,-59.60,-2.93,-44.98,-45.80,3.29,-68.27,-60.83,-2.77,-44.97,-44.09,-2.93,-68.86,-62.08,
6.39,-45.00,-44.81,-5.25,-65.12,-57.03,-5.87,-44.92,-46.46,6.39,-66.16,-59.33,-5.25,-44.90,-43.13,-5.87,-67.13,-61.67,
9.16,-45.00,-44.61,-7.37,-61.79,-53.98,-8.64,-44.85,-46.98,9.16,-63.06,-57.11,-7.37,-44.78,-42.18,-8.64,-64.12,-60.28,
11.49,-44.99,-44.38,-9.08,-58.11,-50.75,-11.09,-44.79,-47.36,11.49,-59.42,-54.47,-9.08,-44.64,-41.30,-11.09,-60.33,-58.20,
13.32,-44.98,-44.16,-10.39,-54.44,-47.61,-13.09,-44.73,-47.62,13.32,-55.68,-51.72,-10.39,-44.50,-40.56,-13.09,-56.30,-55.79,
14.64,-44.97,-43.98,-11.31,-51.06,-44.78,-14.59,-44.69,-47.79,14.64,-52.16,-49.12,-11.31,-44.38,-40.00,-14.59,-52.48,-53.36,
15.49,-44.96,-43.85,-11.90,-48.20,-42.44,-15.56,-44.66,-47.90,15.49,-49.16,-46.88,-11.90,-44.30,-39.63,-15.56,-49.21,-51.17,
15.94,-44.96,-43.78,-12.21,-46.03,-40.72,-16.10,-44.65,-47.95,15.94,-46.87,-45.17,-12.21,-44.25,-39.42,-16.10,-46.72,-49.45,
16.11,-44.95,-43.75,-12.33,-44.68,-39.67,-16.30,-44.64,-47.97,16.11,-45.44,-44.11,-12.33,-44.23,-39.34,-16.30,-45.17,-48.35,
16.14,-44.95,-43.75,-12.35,-44.23,-39.33,-16.33,-44.64,-47.97,16.14,-44.95,-43.75,-12.35,-44.23,-39.33,-16.33,-44.64,-47.97
};


//三角步态前进，步幅2*pi*a=2*pi*0.01=6.28厘米
float forwarda1[40][18] = {
22.10,-30.47,-27.07,-12.57,-26.09,-13.25,-21.93,-28.23,-38.42,22.09,-29.73,-26.44,-12.57,-26.74,-13.78,-21.93,-27.41,-37.76,
21.88,-32.62,-28.82,-12.47,-26.17,-13.50,-21.61,-30.68,-40.29,21.87,-29.75,-26.52,-12.47,-28.73,-15.55,-21.61,-27.45,-37.72,
21.28,-36.05,-31.64,-12.18,-26.41,-14.12,-20.80,-34.68,-43.18,21.27,-29.77,-26.73,-12.18,-31.97,-18.54,-20.80,-27.56,-37.60,
20.16,-40.55,-35.32,-11.64,-26.81,-15.26,-19.31,-40.05,-46.80,20.16,-29.82,-27.10,-11.64,-36.29,-22.65,-19.32,-27.77,-37.36,
18.41,-45.85,-39.59,-10.78,-27.39,-16.96,-17.10,-46.50,-50.76,18.40,-29.88,-27.63,-10.78,-41.47,-27.69,-17.10,-28.09,-36.96,
15.95,-51.54,-44.10,-9.54,-28.09,-19.18,-14.21,-53.45,-54.54,15.95,-29.93,-28.26,-9.54,-47.19,-33.39,-14.21,-28.52,-36.32,
12.78,-57.15,-48.43,-7.87,-28.81,-21.79,-10.81,-60.01,-57.51,12.77,-29.97,-28.91,-7.87,-53.11,-39.45,-10.81,-29.01,-35.36,
8.95,-62.03,-52.10,-5.72,-29.44,-24.60,-7.14,-64.99,-58.93,8.94,-29.99,-29.48,-5.72,-58.74,-45.48,-7.14,-29.50,-34.02,
4.61,-65.41,-54.59,-3.09,-29.86,-27.41,-3.46,-67.31,-58.28,4.61,-30.00,-29.86,-3.09,-63.51,-51.01,-3.46,-29.86,-32.23,
-0.00,-66.63,-55.47,0.00,-30.00,-30.00,-0.00,-66.66,-55.51,-0.00,-30.00,-30.00,0.00,-66.63,-55.47,-0.00,-30.00,-30.00,
-4.61,-65.39,-54.56,3.46,-29.86,-32.23,3.09,-63.54,-51.04,-4.61,-30.00,-29.86,3.46,-67.27,-58.24,3.09,-29.86,-27.41,
-8.94,-62.00,-52.04,7.14,-29.50,-34.02,5.72,-58.77,-45.51,-8.94,-29.99,-29.47,7.14,-64.94,-58.90,5.72,-29.44,-24.61,
-12.77,-57.12,-48.35,10.81,-29.01,-35.37,7.86,-53.12,-39.47,-12.77,-29.97,-28.90,10.81,-59.97,-57.47,7.87,-28.81,-21.79,
-15.94,-51.52,-44.01,14.21,-28.51,-36.32,9.54,-47.20,-33.41,-15.94,-29.93,-28.25,14.21,-53.41,-54.52,9.54,-28.09,-19.18,
-18.39,-45.82,-39.49,17.10,-28.08,-36.96,10.78,-41.47,-27.69,-18.40,-29.88,-27.62,17.10,-46.46,-50.74,10.78,-27.40,-16.96,
-20.14,-40.53,-35.22,19.32,-27.76,-37.37,11.64,-36.29,-22.65,-20.15,-29.82,-27.09,19.32,-40.03,-46.79,11.64,-26.82,-15.27,
-21.26,-36.03,-31.53,20.80,-27.55,-37.60,12.18,-31.96,-18.54,-21.27,-29.77,-26.72,20.80,-34.65,-43.17,12.18,-26.41,-14.13,
-21.86,-32.60,-28.71,21.62,-27.44,-37.72,12.46,-28.71,-15.55,-21.87,-29.74,-26.51,21.62,-30.66,-40.29,12.47,-26.18,-13.50,
-22.08,-30.46,-26.96,21.93,-27.40,-37.77,12.57,-26.72,-13.78,-22.09,-29.73,-26.43,21.93,-28.21,-38.42,12.57,-26.09,-13.26,
-22.11,-29.73,-26.37,21.98,-27.39,-37.77,12.59,-26.05,-13.21,-22.12,-29.73,-26.42,21.98,-27.39,-37.77,12.59,-26.07,-13.23,
-22.08,-29.73,-26.39,21.93,-28.21,-38.42,12.57,-26.07,-13.25,-22.09,-30.46,-27.01,21.93,-27.40,-37.77,12.57,-26.74,-13.79,
-21.86,-29.74,-26.47,21.62,-30.66,-40.29,12.47,-26.16,-13.49,-21.87,-32.61,-28.76,21.62,-27.44,-37.72,12.47,-28.73,-15.56,
-21.26,-29.77,-26.68,20.80,-34.65,-43.17,12.18,-26.39,-14.11,-21.27,-36.04,-31.58,20.80,-27.55,-37.60,12.18,-31.97,-18.55,
-20.14,-29.82,-27.05,19.32,-40.03,-46.79,11.64,-26.80,-15.25,-20.15,-40.55,-35.27,19.32,-27.76,-37.37,11.64,-36.30,-22.66,
-18.39,-29.87,-27.58,17.10,-46.46,-50.74,10.78,-27.38,-16.95,-18.40,-45.84,-39.55,17.10,-28.08,-36.96,10.78,-41.47,-27.69,
-15.94,-29.93,-28.22,14.21,-53.41,-54.52,9.54,-28.08,-19.17,-15.94,-51.55,-44.07,14.21,-28.51,-36.32,9.54,-47.20,-33.40,
-12.77,-29.97,-28.88,10.81,-59.97,-57.48,7.87,-28.80,-21.78,-12.77,-57.16,-48.41,10.81,-29.01,-35.37,7.87,-53.11,-39.46,
-8.94,-29.99,-29.46,7.14,-64.94,-58.90,5.72,-29.43,-24.60,-8.94,-62.04,-52.10,7.14,-29.50,-34.02,5.72,-58.75,-45.49,
-4.61,-30.00,-29.85,3.46,-67.27,-58.24,3.09,-29.85,-27.41,-4.61,-65.44,-54.61,3.46,-29.86,-32.23,3.09,-63.51,-51.01,
0.00,-30.00,-30.00,0.00,-66.63,-55.47,0.00,-30.00,-30.00,-0.00,-66.66,-55.51,0.00,-30.00,-30.00,-0.00,-66.63,-55.47,
4.61,-30.00,-29.87,-3.09,-63.51,-51.01,-3.46,-29.86,-32.23,4.61,-65.44,-54.61,-3.09,-29.86,-27.41,-3.46,-67.27,-58.24,
8.95,-29.99,-29.49,-5.72,-58.74,-45.48,-7.14,-29.50,-34.02,8.94,-62.04,-52.10,-5.72,-29.44,-24.60,-7.14,-64.94,-58.89,
12.78,-29.98,-28.93,-7.87,-53.11,-39.45,-10.81,-29.02,-35.37,12.77,-57.16,-48.42,-7.87,-28.81,-21.79,-10.81,-59.97,-57.47,
15.95,-29.94,-28.29,-9.54,-47.19,-33.39,-14.21,-28.52,-36.32,15.95,-51.55,-44.08,-9.54,-28.09,-19.18,-14.21,-53.41,-54.51,
18.41,-29.88,-27.67,-10.78,-41.47,-27.69,-17.10,-28.10,-36.97,18.40,-45.84,-39.56,-10.78,-27.39,-16.96,-17.10,-46.47,-50.74,
20.16,-29.83,-27.15,-11.64,-36.30,-22.65,-19.31,-27.78,-37.37,20.16,-40.55,-35.28,-11.64,-26.81,-15.26,-19.32,-40.03,-46.78,
21.28,-29.78,-26.78,-12.18,-31.97,-18.54,-20.80,-27.57,-37.61,21.27,-36.04,-31.59,-12.18,-26.41,-14.12,-20.80,-34.66,-43.17,
21.88,-29.76,-26.57,-12.47,-28.73,-15.55,-21.61,-27.46,-37.73,21.87,-32.61,-28.77,-12.47,-26.17,-13.49,-21.61,-30.66,-40.28,
22.10,-29.75,-26.49,-12.57,-26.74,-13.78,-21.92,-27.42,-37.77,22.09,-30.46,-27.02,-12.57,-26.09,-13.25,-21.93,-28.22,-38.41,
22.14,-29.74,-26.48,-12.59,-26.07,-13.22,-21.97,-27.41,-37.78,22.13,-29.73,-26.43,-12.59,-26.07,-13.22,-21.97,-27.40,-37.77
};

//三角步态前进，步幅2*pi*a=2*pi*0.01=3.14厘米，步高度2cm
float forwarda2[40][18] = {
20.70,-1.10,2.00,-11.90,3.88,17.47,-20.02,0.83,-9.21,20.69,0.21,3.34,-11.90,2.56,16.12,-20.02,2.14,-7.89,
20.48,-4.88,-1.77,-11.80,3.78,17.20,-19.74,-3.00,-12.93,20.48,0.20,3.26,-11.80,-1.32,12.06,-19.73,2.10,-7.85,
19.92,-10.79,-7.52,-11.52,3.54,16.52,-19.00,-9.12,-18.55,19.91,0.18,3.06,-11.52,-7.35,5.78,-19.00,2.01,-7.72,
18.86,-18.37,-14.63,-11.01,3.11,15.27,-17.66,-17.19,-25.44,18.86,0.14,2.71,-11.01,-15.00,-2.05,-17.66,1.84,-7.46,
17.21,-27.10,-22.41,-10.18,2.51,13.44,-15.65,-26.78,-32.84,17.20,0.10,2.22,-10.18,-23.71,-10.77,-15.65,1.57,-7.03,
14.89,-36.37,-30.21,-8.99,1.81,11.08,-13.03,-37.21,-39.97,14.89,0.05,1.63,-8.99,-32.93,-19.80,-13.03,1.22,-6.36,
11.91,-45.43,-37.38,-7.39,1.10,8.34,-9.94,-47.40,-45.97,11.91,0.02,1.02,-7.39,-42.07,-28.64,-9.94,0.82,-5.38,
8.33,-53.30,-43.28,-5.36,0.51,5.45,-6.59,-55.76,-49.87,8.33,0.00,0.49,-5.36,-50.41,-36.78,-6.59,0.42,-4.02,
4.29,-58.79,-47.21,-2.88,0.13,2.60,-3.21,-60.55,-50.85,4.29,0.00,0.13,-2.88,-57.03,-43.67,-3.21,0.12,-2.23,
-0.00,-60.78,-48.60,0.00,-0.00,-0.00,-0.00,-60.85,-48.66,-0.00,-0.00,-0.00,0.00,-60.78,-48.60,-0.00,-0.00,-0.00,
-4.29,-58.78,-47.18,3.21,0.12,-2.23,2.88,-57.10,-43.73,-4.29,0.00,0.13,3.21,-60.47,-50.79,2.88,0.13,2.60,
-8.33,-53.28,-43.23,6.59,0.42,-4.02,5.36,-50.46,-36.83,-8.33,0.01,0.49,6.59,-55.68,-49.81,5.36,0.51,5.44,
-11.91,-45.40,-37.32,9.94,0.82,-5.38,7.39,-42.11,-28.68,-11.91,0.02,1.02,9.94,-47.33,-45.91,7.39,1.10,8.34,
-14.88,-36.35,-30.13,13.03,1.23,-6.36,8.99,-32.96,-19.83,-14.89,0.05,1.64,13.03,-37.15,-39.93,8.99,1.80,11.07,
-17.19,-27.09,-22.32,15.66,1.58,-7.03,10.18,-23.73,-10.79,-17.20,0.10,2.23,15.66,-26.74,-32.81,10.18,2.51,13.43,
-18.85,-18.36,-14.54,17.66,1.84,-7.47,11.01,-15.01,-2.06,-18.85,0.14,2.73,17.66,-17.16,-25.42,11.01,3.11,15.27,
-19.90,-10.78,-7.43,19.00,2.01,-7.72,11.53,-7.35,5.78,-19.91,0.18,3.07,19.00,-9.09,-18.54,11.53,3.53,16.51,
-20.47,-4.87,-1.67,19.74,2.10,-7.85,11.80,-1.31,12.06,-20.48,0.20,3.27,19.74,-2.98,-12.92,11.80,3.78,17.20,
-20.68,-1.09,2.09,20.02,2.14,-7.90,11.90,2.57,16.13,-20.69,0.21,3.35,20.02,0.85,-9.21,11.90,3.87,17.45,
-20.71,0.21,3.40,20.06,2.15,-7.91,11.92,3.91,17.51,-20.72,0.21,3.36,20.06,2.15,-7.91,11.92,3.89,17.50,
-20.68,0.21,3.39,20.02,0.85,-9.21,11.90,3.90,17.48,-20.69,-1.09,2.05,20.02,2.14,-7.90,11.90,2.55,16.10,
-20.47,0.20,3.31,19.74,-2.98,-12.92,11.80,3.80,17.22,-20.48,-4.87,-1.71,19.74,2.10,-7.85,11.80,-1.32,12.05,
-19.90,0.18,3.11,19.00,-9.09,-18.54,11.53,3.55,16.53,-19.91,-10.79,-7.48,19.00,2.01,-7.72,11.53,-7.35,5.77,
-18.85,0.14,2.76,17.66,-17.16,-25.41,11.01,3.12,15.28,-18.85,-18.38,-14.59,17.66,1.84,-7.47,11.01,-15.00,-2.06,
-17.19,0.10,2.26,15.66,-26.73,-32.81,10.18,2.52,13.45,-17.20,-27.12,-22.39,15.66,1.58,-7.03,10.18,-23.72,-10.78,
-14.88,0.05,1.66,13.04,-37.15,-39.93,8.99,1.82,11.09,-14.89,-36.39,-30.20,13.03,1.23,-6.36,8.99,-32.94,-19.81,
-11.91,0.02,1.05,9.94,-47.34,-45.92,7.39,1.11,8.35,-11.91,-45.46,-37.39,9.94,0.82,-5.38,7.39,-42.07,-28.64,
-8.33,0.00,0.51,6.59,-55.69,-49.81,5.36,0.52,5.45,-8.33,-53.35,-43.30,6.59,0.42,-4.02,5.36,-50.41,-36.79,
-4.29,-0.00,0.14,3.21,-60.47,-50.79,2.88,0.13,2.60,-4.29,-58.86,-47.26,3.21,0.12,-2.23,2.88,-57.04,-43.68,
0.00,-0.00,-0.00,0.00,-60.78,-48.60,-0.00,-0.00,-0.00,-0.00,-60.85,-48.66,0.00,-0.00,-0.00,-0.00,-60.78,-48.60,
4.29,-0.00,0.12,-2.88,-57.04,-43.67,-3.21,0.12,-2.23,4.29,-58.86,-47.26,-2.88,0.13,2.60,-3.21,-60.47,-50.79,
8.33,0.00,0.47,-5.36,-50.41,-36.78,-6.59,0.42,-4.02,8.33,-53.35,-43.31,-5.36,0.51,5.45,-6.59,-55.68,-49.80,
11.91,0.02,0.99,-7.39,-42.07,-28.64,-9.94,0.81,-5.39,11.91,-45.47,-37.40,-7.39,1.10,8.34,-9.94,-47.33,-45.91,
14.89,0.05,1.60,-8.99,-32.93,-19.80,-13.03,1.22,-6.37,14.89,-36.40,-30.21,-8.99,1.81,11.08,-13.03,-37.15,-39.93,
17.21,0.09,2.18,-10.18,-23.72,-10.77,-15.65,1.57,-7.04,17.20,-27.12,-22.40,-10.18,2.51,13.44,-15.65,-26.74,-32.80,
18.86,0.13,2.67,-11.01,-15.00,-2.05,-17.66,1.83,-7.47,18.86,-18.39,-14.61,-11.01,3.11,15.27,-17.66,-17.16,-25.41,
19.92,0.17,3.02,-11.52,-7.35,5.78,-19.00,2.00,-7.72,19.91,-10.79,-7.49,-11.52,3.54,16.52,-19.00,-9.10,-18.53,
20.48,0.19,3.21,-11.80,-1.32,12.06,-19.74,2.09,-7.85,20.48,-4.87,-1.73,-11.80,3.78,17.20,-19.74,-2.98,-12.91,
20.70,0.20,3.29,-11.90,2.56,16.12,-20.02,2.13,-7.90,20.69,-1.09,2.04,-11.90,3.88,17.47,-20.02,0.84,-9.20,
20.73,0.20,3.30,-11.92,3.89,17.50,-20.06,2.13,-7.91,20.72,0.21,3.35,-11.92,3.89,17.51,-20.06,2.14,-7.90
};

//三角步态前进，步幅2*pi*a=2*pi*0.01=3.14厘米，步高度3cm
float forwarda3[40][18] = {
22.10,27.97,30.87,-12.57,35.52,50.41,-21.93,30.10,20.28,22.09,30.28,33.69,-12.57,32.67,46.87,-21.93,32.18,22.81,
21.88,21.61,23.34,-12.47,35.36,50.04,-21.61,24.24,13.38,21.87,30.27,33.60,-12.47,25.10,37.58,-21.61,32.14,22.85,
21.28,12.32,12.75,-12.18,34.97,49.10,-20.80,15.38,3.48,21.27,30.24,33.38,-12.18,14.73,25.29,-20.80,32.06,22.95,
20.16,1.12,0.68,-11.64,34.29,47.45,-19.31,4.28,-8.01,20.16,30.19,32.99,-11.64,2.82,11.82,-19.32,31.89,23.15,
18.41,-11.26,-11.73,-10.78,33.38,45.09,-17.10,-8.51,-19.94,18.40,30.13,32.43,-10.78,-9.86,-1.75,-17.10,31.64,23.51,
15.95,-24.21,-23.64,-9.54,32.36,42.18,-14.21,-22.46,-31.35,15.95,30.07,31.77,-9.54,-22.76,-14.80,-14.21,31.29,24.07,
12.78,-36.98,-34.34,-7.87,31.40,38.96,-10.81,-36.68,-41.31,12.77,30.03,31.10,-7.87,-35.30,-26.84,-10.81,30.88,24.92,
8.95,-48.40,-43.11,-5.72,30.63,35.71,-7.14,-49.39,-48.73,8.94,30.01,30.53,-5.72,-46.61,-37.40,-7.14,30.46,26.14,
4.61,-56.65,-49.03,-3.09,30.15,32.66,-3.46,-57.86,-52.31,4.61,30.00,30.14,-3.09,-55.39,-45.83,-3.46,30.13,27.82,
-0.00,-59.73,-51.15,0.00,30.00,30.00,-0.00,-59.86,-51.24,-0.00,30.00,30.00,-0.00,-59.73,-51.15,-0.00,30.00,30.00,
-4.61,-56.64,-49.00,3.46,30.13,27.82,3.09,-55.51,-45.92,-4.61,30.00,30.14,3.46,-57.72,-52.21,3.09,30.15,32.66,
-8.94,-48.38,-43.06,7.14,30.46,26.14,5.72,-46.70,-37.47,-8.94,30.01,30.53,7.14,-49.26,-48.64,5.72,30.62,35.70,
-12.77,-36.97,-34.28,10.81,30.88,24.91,7.86,-35.37,-26.90,-12.77,30.03,31.11,10.81,-36.58,-41.24,7.87,31.39,38.95,
-15.94,-24.21,-23.57,14.21,31.29,24.06,9.54,-22.82,-14.85,-15.94,30.07,31.78,14.21,-22.38,-31.29,9.54,32.36,42.17,
-18.39,-11.26,-11.65,17.10,31.64,23.50,10.78,-9.90,-1.79,-18.40,30.13,32.44,17.10,-8.44,-19.89,10.78,33.38,45.08,
-20.14,1.12,0.76,19.32,31.90,23.15,11.64,2.80,11.80,-20.15,30.19,33.00,19.32,4.33,-7.98,11.64,34.29,47.44,
-21.26,12.33,12.84,20.80,32.06,22.95,12.18,14.72,25.28,-21.27,30.24,33.39,20.80,15.42,3.50,12.18,34.96,49.09,
-21.86,21.61,23.44,21.62,32.15,22.84,12.46,25.12,37.60,-21.87,30.27,33.62,21.62,24.26,13.40,12.47,35.36,50.03,
-22.08,27.98,30.98,21.93,32.18,22.81,12.57,32.69,46.88,-22.09,30.29,33.70,21.93,30.11,20.29,12.57,35.52,50.39,
-22.11,30.29,33.76,21.98,32.18,22.80,12.59,35.57,50.49,-22.12,30.29,33.72,21.98,32.18,22.80,12.59,35.54,50.45,
-22.08,30.29,33.75,21.93,30.11,20.29,12.57,35.55,50.43,-22.09,27.98,30.94,21.93,32.18,22.81,12.57,32.66,46.86,
-21.86,30.28,33.66,21.62,24.26,13.40,12.47,35.39,50.06,-21.87,21.61,23.39,21.62,32.15,22.84,12.47,25.10,37.57,
-21.26,30.24,33.43,20.80,15.42,3.50,12.18,34.99,49.13,-21.27,12.30,12.78,20.80,32.06,22.95,12.18,14.73,25.28,
-20.14,30.19,33.04,19.32,4.33,-7.98,11.64,34.31,47.47,-20.15,1.09,0.70,19.32,31.90,23.15,11.64,2.82,11.82,
-18.39,30.13,32.48,17.10,-8.44,-19.89,10.78,33.40,45.11,-18.40,-11.31,-11.73,17.10,31.64,23.50,10.78,-9.86,-1.76,
-15.94,30.07,31.81,14.21,-22.38,-31.29,9.54,32.38,42.19,-15.94,-24.27,-23.65,14.21,31.29,24.06,9.54,-22.77,-14.81,
-12.77,30.03,31.13,10.81,-36.58,-41.24,7.87,31.41,38.97,-12.77,-37.06,-34.38,10.81,30.88,24.91,7.87,-35.30,-26.84,
-8.94,30.01,30.55,7.14,-49.26,-48.64,5.72,30.63,35.71,-8.94,-48.49,-43.17,7.14,30.46,26.14,5.72,-46.61,-37.40,
-4.61,30.00,30.15,3.46,-57.73,-52.21,3.09,30.15,32.66,-4.61,-56.77,-49.11,3.46,30.13,27.82,3.09,-55.39,-45.83,
0.00,30.00,30.00,0.00,-59.73,-51.15,-0.00,30.00,30.00,-0.00,-59.86,-51.24,0.00,30.00,30.00,-0.00,-59.73,-51.15,
4.61,30.00,30.13,-3.09,-55.39,-45.83,-3.46,30.13,27.82,4.61,-56.77,-49.11,-3.09,30.15,32.66,-3.46,-57.72,-52.21,
8.95,30.01,30.51,-5.72,-46.61,-37.40,-7.14,30.46,26.14,8.94,-48.49,-43.17,-5.72,30.63,35.71,-7.14,-49.26,-48.63,
12.78,30.03,31.08,-7.87,-35.30,-26.84,-10.81,30.87,24.91,12.77,-37.06,-34.38,-7.87,31.40,38.96,-10.81,-36.58,-41.23,
15.95,30.07,31.74,-9.54,-22.76,-14.80,-14.21,31.29,24.06,15.95,-24.27,-23.66,-9.54,32.36,42.18,-14.21,-22.38,-31.28,
18.41,30.12,32.39,-10.78,-9.86,-1.75,-17.10,31.63,23.49,18.40,-11.31,-11.73,-10.78,33.38,45.09,-17.10,-8.45,-19.89,
20.16,30.18,32.94,-11.64,2.82,11.82,-19.31,31.88,23.14,20.16,1.09,0.69,-11.64,34.29,47.45,-19.32,4.33,-7.97,
21.28,30.23,33.33,-12.18,14.73,25.29,-20.80,32.05,22.94,21.27,12.31,12.77,-12.18,34.97,49.10,-20.80,15.41,3.51,
21.88,30.26,33.55,-12.47,25.11,37.59,-21.61,32.13,22.84,21.87,21.60,23.37,-12.47,35.37,50.04,-21.61,24.25,13.40,
22.10,30.27,33.64,-12.57,32.66,46.86,-21.92,32.17,22.80,22.09,27.98,30.92,-12.57,35.52,50.40,-21.93,30.11,20.30,
22.14,30.27,33.65,-12.59,35.55,50.46,-21.97,32.17,22.79,22.13,30.29,33.71,-12.59,35.55,50.46,-21.97,32.18,22.81
};

//蹦迪，高度2厘米
float benga[40][18] = {
0.00,-18.00,-17.92,1.93,-17.99,-18.49,2.07,-17.71,-21.21,0.00,-17.60,-21.76,-2.07,-17.72,-21.22,-1.93,-17.99,-18.49,
0.00,-28.47,-29.74,-0.94,-28.49,-29.46,-0.91,-28.50,-28.12,0.00,-28.50,-27.84,0.91,-28.51,-28.12,0.94,-28.49,-29.47,
0.00,-28.17,-31.92,-3.43,-28.34,-30.99,-3.06,-28.40,-26.26,0.00,-28.29,-25.24,3.06,-28.40,-26.27,3.43,-28.34,-30.99,
0.00,-16.87,-23.98,-5.14,-17.33,-22.77,-4.36,-17.92,-16.31,0.00,-17.80,-14.89,4.36,-17.94,-16.33,5.14,-17.33,-22.77,
0.00,-0.49,-9.16,-5.75,-1.09,-7.94,-4.79,-2.04,-1.15,0.00,-1.94,0.38,4.79,-2.07,-1.19,5.75,-1.09,-7.94,
0.00,14.83,7.50,-5.14,14.38,8.61,-4.36,13.73,14.87,0.00,13.83,16.30,4.36,13.68,14.81,5.14,14.38,8.61,
0.00,24.32,19.86,-3.43,24.13,20.71,-3.06,23.96,25.29,0.00,24.03,26.30,3.06,23.89,25.21,3.43,24.13,20.70,
0.00,23.96,21.87,-0.94,23.93,22.12,-0.91,23.92,23.47,0.00,23.92,23.75,0.91,23.86,23.40,0.94,23.93,22.12,
0.00,13.65,13.24,1.93,13.67,12.68,2.07,14.04,10.12,0.00,14.15,9.60,-2.07,13.99,10.07,-1.93,13.67,12.68,
0.00,-1.98,0.35,4.79,-2.07,-1.19,5.75,-1.06,-7.92,0.00,-0.48,-9.15,-5.75,-1.09,-7.94,-4.79,-2.07,-1.19,
-0.00,-17.00,-10.25,7.35,-17.53,-12.93,9.86,-16.59,-24.52,-0.00,-15.20,-26.46,-9.86,-16.59,-24.52,-7.35,-17.53,-12.92,
-0.00,-25.59,-14.46,9.43,-26.79,-18.27,13.96,-26.97,-34.99,-0.00,-24.49,-37.55,-13.96,-26.97,-34.98,-9.43,-26.79,-18.27,
-0.00,-24.31,-10.93,10.94,-25.97,-15.59,17.49,-26.44,-35.76,-0.00,-22.62,-38.50,-17.49,-26.44,-35.74,-10.94,-25.96,-15.58,
-0.00,-13.99,-0.44,11.85,-15.72,-5.55,19.88,-14.96,-26.67,-0.00,-10.14,-29.17,-19.88,-14.97,-26.67,-11.85,-15.72,-5.55,
-0.00,1.67,15.07,12.16,-0.10,9.63,20.73,1.38,-11.38,-0.00,6.21,-13.63,-20.73,1.35,-11.40,-12.16,-0.10,9.64,
0.00,17.93,31.94,11.85,15.91,26.10,19.88,16.61,5.08,0.00,20.68,2.86,-19.88,16.57,5.04,-11.85,15.91,26.11,
0.00,28.55,42.73,10.94,26.39,36.85,17.49,25.98,16.58,0.00,29.00,14.31,-17.49,25.92,16.52,-10.94,26.39,36.85,
0.00,26.86,38.22,9.43,25.43,33.70,13.96,25.52,17.23,0.00,27.58,15.09,-13.96,25.46,17.17,-9.43,25.43,33.71,
0.00,14.55,21.02,7.35,14.03,18.24,9.86,15.13,7.04,0.00,16.41,5.28,-9.86,15.09,6.99,-7.35,14.03,18.24,
0.00,-1.98,0.35,4.79,-2.07,-1.19,5.75,-1.06,-7.92,0.00,-0.47,-9.14,-5.75,-1.09,-7.94,-4.79,-2.07,-1.19,
0.00,-17.99,-17.91,1.93,-17.99,-18.49,2.07,-17.71,-21.21,0.00,-17.60,-21.75,-2.07,-17.72,-21.22,-1.93,-17.99,-18.49,
0.00,-28.47,-29.74,-0.94,-28.49,-29.46,-0.91,-28.50,-28.12,0.00,-28.50,-27.84,0.91,-28.51,-28.12,0.94,-28.49,-29.47,
0.00,-28.17,-31.92,-3.43,-28.34,-30.99,-3.06,-28.40,-26.26,0.00,-28.29,-25.24,3.06,-28.40,-26.27,3.43,-28.34,-30.99,
0.00,-16.87,-23.98,-5.14,-17.33,-22.77,-4.36,-17.92,-16.31,0.00,-17.80,-14.89,4.36,-17.94,-16.33,5.14,-17.33,-22.77,
0.00,-0.49,-9.16,-5.75,-1.09,-7.94,-4.79,-2.04,-1.15,0.00,-1.94,0.38,4.79,-2.07,-1.19,5.75,-1.09,-7.94,
0.00,14.83,7.50,-5.14,14.38,8.61,-4.36,13.73,14.87,0.00,13.83,16.30,4.36,13.68,14.81,5.14,14.38,8.61,
0.00,24.32,19.86,-3.43,24.13,20.71,-3.06,23.96,25.29,0.00,24.03,26.30,3.06,23.89,25.21,3.43,24.13,20.70,
0.00,23.96,21.87,-0.94,23.93,22.12,-0.91,23.92,23.47,0.00,23.92,23.75,0.91,23.86,23.40,0.94,23.93,22.12,
0.00,13.65,13.24,1.93,13.67,12.68,2.07,14.04,10.12,0.00,14.15,9.60,-2.07,13.99,10.07,-1.93,13.67,12.68,
0.00,-1.98,0.35,4.79,-2.07,-1.19,5.75,-1.06,-7.92,0.00,-0.48,-9.15,-5.75,-1.09,-7.94,-4.79,-2.07,-1.19,
-0.00,-17.00,-10.25,7.35,-17.53,-12.93,9.86,-16.59,-24.52,-0.00,-15.20,-26.46,-9.86,-16.59,-24.52,-7.35,-17.53,-12.92,
-0.00,-25.59,-14.46,9.43,-26.79,-18.27,13.96,-26.97,-34.99,-0.00,-24.49,-37.55,-13.96,-26.97,-34.98,-9.43,-26.79,-18.27,
-0.00,-24.31,-10.93,10.94,-25.97,-15.59,17.49,-26.44,-35.76,-0.00,-22.62,-38.50,-17.49,-26.44,-35.74,-10.94,-25.96,-15.58,
-0.00,-13.99,-0.44,11.85,-15.72,-5.55,19.88,-14.96,-26.67,-0.00,-10.14,-29.17,-19.88,-14.97,-26.67,-11.85,-15.72,-5.55,
-0.00,1.67,15.07,12.16,-0.10,9.63,20.73,1.38,-11.38,-0.00,6.21,-13.63,-20.73,1.35,-11.40,-12.16,-0.10,9.64,
0.00,17.93,31.94,11.85,15.91,26.10,19.88,16.61,5.08,0.00,20.68,2.86,-19.88,16.57,5.04,-11.85,15.91,26.11,
0.00,28.55,42.73,10.94,26.39,36.85,17.49,25.98,16.58,0.00,29.00,14.31,-17.49,25.92,16.52,-10.94,26.39,36.86,
0.00,26.86,38.22,9.43,25.43,33.70,13.96,25.52,17.23,0.00,27.58,15.09,-13.96,25.46,17.17,-9.43,25.43,33.71,
0.00,14.55,21.02,7.35,14.03,18.24,9.86,15.13,7.04,0.00,16.41,5.28,-9.86,15.09,6.99,-7.35,14.03,18.24,
0.00,-1.98,0.35,4.79,-2.07,-1.19,5.75,-1.06,-7.92,0.00,-0.47,-9.14,-5.75,-1.09,-7.94,-4.79,-2.07,-1.19
};





//波动步态前进，步幅2*pi*a=2*pi*0.017=10.676厘米
float forwardaF[60][18] = {
16.11,-45.44,-44.11,-7.87,-44.74,-41.93,-9.36,-44.84,-47.09,3.31,-45.00,-44.95,-2.79,-44.97,-44.08,-16.32,-44.64,-47.97,
15.49,-49.16,-46.88,-7.78,-44.75,-41.98,-9.49,-44.83,-47.12,3.17,-45.00,-44.95,-2.90,-44.97,-44.04,-16.18,-44.65,-47.96,
13.32,-55.68,-51.72,-7.44,-44.78,-42.14,-9.96,-44.82,-47.19,2.71,-45.00,-44.97,-3.28,-44.96,-43.91,-15.67,-44.66,-47.91,
9.16,-63.06,-57.11,-6.81,-44.82,-42.44,-10.85,-44.79,-47.32,1.85,-45.00,-44.99,-3.97,-44.95,-43.65,-14.74,-44.69,-47.81,
3.29,-68.27,-60.83,-5.91,-44.87,-42.85,-12.08,-44.76,-47.49,0.66,-45.00,-45.00,-4.91,-44.91,-43.27,-13.47,-44.72,-47.67,
-3.29,-68.27,-60.83,-4.91,-44.91,-43.27,-13.47,-44.72,-47.67,-0.66,-45.00,-45.00,-5.91,-44.87,-42.85,-12.08,-44.76,-47.49,
-11.49,-59.42,-54.47,-3.59,-44.96,-43.79,-15.26,-44.67,-47.86,-2.33,-45.00,-44.98,-7.16,-44.80,-42.28,-10.35,-44.81,-47.25,
-14.64,-52.16,-49.12,-3.05,-44.97,-43.99,-15.98,-44.65,-47.94,-2.99,-45.00,-44.96,-7.64,-44.76,-42.04,-9.68,-44.83,-47.15,
-15.94,-46.87,-45.17,-2.82,-44.97,-44.07,-16.28,-44.64,-47.97,-3.27,-45.00,-44.95,-7.85,-44.75,-41.94,-9.39,-44.83,-47.10,
-16.14,-44.95,-43.75,-2.79,-44.97,-44.09,-16.33,-44.64,-47.97,-3.31,-45.00,-44.95,-7.88,-44.74,-41.93,-9.35,-44.84,-47.09,
-16.10,-44.95,-43.75,-2.75,-44.98,-44.10,-16.10,-46.72,-49.45,-3.35,-45.00,-44.95,-7.91,-44.74,-41.91,-9.31,-44.84,-47.09,
-15.84,-44.96,-43.80,-2.52,-44.98,-44.18,-14.59,-52.48,-53.36,-3.63,-45.00,-44.94,-8.11,-44.73,-41.81,-9.02,-44.84,-47.04,
-15.23,-44.96,-43.89,-1.98,-44.99,-44.37,-11.09,-60.33,-58.20,-4.29,-45.00,-44.92,-8.58,-44.69,-41.57,-8.36,-44.86,-46.93,
-14.25,-44.97,-44.04,-1.10,-45.00,-44.66,-5.87,-67.13,-61.67,-5.33,-45.00,-44.87,-9.31,-44.62,-41.18,-7.32,-44.89,-46.74,
-13.03,-44.98,-44.20,0.00,-45.00,-45.00,-0.00,-69.02,-61.36,-6.60,-45.00,-44.80,-10.19,-44.53,-40.68,-6.07,-44.92,-46.50,
-11.81,-44.99,-44.35,1.12,-45.00,-45.32,5.25,-65.12,-57.03,-7.87,-45.00,-44.72,-11.04,-44.42,-40.17,-4.85,-44.95,-46.24,
-10.80,-44.99,-44.46,2.06,-44.99,-45.58,9.08,-58.12,-50.75,-8.89,-45.00,-44.64,-11.72,-44.33,-39.74,-3.86,-44.96,-46.02,
-10.16,-44.99,-44.52,2.66,-44.98,-45.73,11.31,-51.06,-44.78,-9.54,-44.99,-44.58,-12.14,-44.26,-39.47,-3.25,-44.97,-45.88,
-9.89,-44.99,-44.55,2.92,-44.98,-45.80,12.21,-46.03,-40.72,-9.81,-44.99,-44.56,-12.32,-44.23,-39.35,-2.99,-44.98,-45.81,
-9.85,-44.99,-44.55,2.95,-44.98,-45.80,12.35,-44.23,-39.33,-9.85,-44.99,-44.55,-12.35,-44.23,-39.33,-2.95,-44.98,-45.80,
-9.81,-44.99,-44.56,2.99,-44.98,-45.81,12.32,-44.23,-39.35,-9.89,-44.99,-44.55,-12.21,-46.03,-40.72,-2.92,-44.98,-45.80,
-9.54,-44.99,-44.58,3.25,-44.97,-45.88,12.14,-44.26,-39.47,-10.16,-44.99,-44.52,-11.31,-51.06,-44.78,-2.66,-44.98,-45.73,
-8.89,-45.00,-44.64,3.86,-44.96,-46.02,11.72,-44.33,-39.74,-10.80,-44.99,-44.46,-9.08,-58.11,-50.75,-2.06,-44.99,-45.58,
-7.87,-45.00,-44.72,4.85,-44.95,-46.24,11.04,-44.42,-40.17,-11.81,-44.99,-44.35,-5.25,-65.12,-57.03,-1.12,-45.00,-45.32,
-6.60,-45.00,-44.80,6.07,-44.92,-46.50,10.19,-44.53,-40.68,-13.03,-44.98,-44.20,0.00,-69.02,-61.36,-0.00,-45.00,-45.00,
-5.33,-45.00,-44.87,7.32,-44.89,-46.74,9.31,-44.62,-41.18,-14.25,-44.97,-44.04,5.87,-67.13,-61.67,1.10,-45.00,-44.66,
-4.29,-45.00,-44.92,8.36,-44.86,-46.93,8.58,-44.69,-41.57,-15.23,-44.96,-43.89,11.09,-60.33,-58.20,1.98,-44.99,-44.37,
-3.63,-45.00,-44.94,9.02,-44.84,-47.04,8.11,-44.73,-41.81,-15.84,-44.96,-43.80,14.59,-52.48,-53.36,2.53,-44.98,-44.18,
-3.35,-45.00,-44.95,9.31,-44.84,-47.09,7.91,-44.74,-41.91,-16.10,-44.95,-43.75,16.10,-46.72,-49.45,2.75,-44.98,-44.10,
-3.31,-45.00,-44.95,9.35,-44.84,-47.09,7.88,-44.74,-41.93,-16.14,-44.95,-43.75,16.33,-44.64,-47.97,2.79,-44.97,-44.09,
-3.27,-45.00,-44.95,9.39,-44.83,-47.10,7.85,-44.75,-41.94,-15.94,-46.87,-45.17,16.28,-44.64,-47.97,2.82,-44.97,-44.07,
-2.99,-45.00,-44.96,9.68,-44.83,-47.14,7.64,-44.76,-42.04,-14.64,-52.16,-49.12,15.98,-44.65,-47.94,3.05,-44.97,-43.99,
-2.33,-45.00,-44.98,10.35,-44.81,-47.25,7.16,-44.80,-42.28,-11.49,-59.42,-54.47,15.26,-44.67,-47.87,3.59,-44.96,-43.79,
-1.28,-45.00,-44.99,11.43,-44.78,-47.40,6.39,-44.84,-42.64,-6.39,-66.16,-59.33,14.14,-44.70,-47.74,4.42,-44.93,-43.47,
-0.00,-45.00,-45.00,12.77,-44.74,-47.58,5.41,-44.89,-43.06,-0.00,-69.02,-61.36,12.77,-44.74,-47.58,5.41,-44.89,-43.06,
1.28,-45.00,-44.99,14.14,-44.70,-47.74,4.42,-44.93,-43.47,6.39,-66.16,-59.33,11.43,-44.78,-47.40,6.39,-44.84,-42.64,
2.33,-45.00,-44.98,15.26,-44.67,-47.86,3.59,-44.96,-43.79,11.49,-59.42,-54.47,10.35,-44.81,-47.25,7.16,-44.80,-42.28,
2.99,-45.00,-44.96,15.98,-44.65,-47.94,3.05,-44.97,-43.99,14.64,-52.16,-49.12,9.68,-44.83,-47.15,7.64,-44.76,-42.04,
3.27,-45.00,-44.95,16.28,-44.64,-47.97,2.82,-44.97,-44.07,15.94,-46.87,-45.17,9.39,-44.83,-47.10,7.85,-44.75,-41.94,
3.31,-45.00,-44.95,16.33,-44.64,-47.97,2.79,-44.97,-44.09,16.14,-44.95,-43.75,9.35,-44.84,-47.09,7.88,-44.74,-41.93,
3.35,-45.00,-44.95,16.10,-46.72,-49.45,2.75,-44.98,-44.10,16.10,-44.95,-43.75,9.31,-44.84,-47.09,7.91,-44.74,-41.91,
3.63,-45.00,-44.94,14.59,-52.48,-53.36,2.52,-44.98,-44.18,15.84,-44.96,-43.80,9.02,-44.84,-47.04,8.11,-44.73,-41.81,
4.29,-45.00,-44.92,11.09,-60.33,-58.20,1.98,-44.99,-44.37,15.23,-44.96,-43.89,8.36,-44.86,-46.93,8.58,-44.69,-41.57,
4.77,-45.00,-44.90,8.64,-64.12,-60.28,1.58,-44.99,-44.50,14.78,-44.97,-43.96,7.88,-44.87,-46.84,8.92,-44.66,-41.39,
5.95,-45.00,-44.84,2.93,-68.86,-62.08,0.57,-45.00,-44.83,13.66,-44.98,-44.12,6.71,-44.90,-46.63,9.74,-44.57,-40.94,
7.25,-45.00,-44.76,-2.77,-67.67,-59.60,-0.57,-45.00,-45.17,12.41,-44.98,-44.28,5.44,-44.93,-46.37,10.63,-44.47,-40.42,
8.42,-45.00,-44.68,-7.37,-61.79,-53.98,-1.63,-44.99,-45.46,11.27,-44.99,-44.41,4.31,-44.96,-46.13,11.41,-44.37,-39.94,
9.26,-45.00,-44.60,-10.39,-54.44,-47.61,-2.40,-44.99,-45.67,10.43,-44.99,-44.50,3.51,-44.97,-45.94,11.97,-44.29,-39.58,
9.71,-44.99,-44.56,-11.90,-48.20,-42.44,-2.83,-44.98,-45.77,9.99,-44.99,-44.54,3.08,-44.98,-45.84,12.26,-44.24,-39.39,
9.84,-44.99,-44.55,-12.33,-44.68,-39.67,-2.95,-44.98,-45.80,9.85,-44.99,-44.55,2.96,-44.98,-45.81,12.35,-44.23,-39.33,
9.85,-44.99,-44.55,-12.35,-44.23,-39.33,-2.96,-44.98,-45.81,9.84,-44.99,-44.55,2.95,-44.98,-45.80,12.33,-44.68,-39.67,
9.99,-44.99,-44.54,-12.26,-44.24,-39.39,-3.08,-44.98,-45.84,9.71,-44.99,-44.56,2.83,-44.98,-45.77,11.90,-48.20,-42.44,
10.43,-44.99,-44.50,-11.97,-44.29,-39.58,-3.51,-44.97,-45.94,9.26,-45.00,-44.60,2.40,-44.99,-45.67,10.39,-54.44,-47.61,
11.27,-44.99,-44.41,-11.41,-44.37,-39.94,-4.31,-44.96,-46.13,8.42,-45.00,-44.68,1.63,-44.99,-45.46,7.37,-61.79,-53.98,
12.41,-44.98,-44.28,-10.63,-44.47,-40.42,-5.44,-44.93,-46.37,7.25,-44.99,-44.75,0.57,-45.00,-45.17,2.77,-67.67,-59.60,
13.66,-44.98,-44.12,-9.74,-44.57,-40.94,-6.71,-44.90,-46.63,5.95,-45.00,-44.84,-0.57,-45.00,-44.83,-2.93,-68.86,-62.08,
14.78,-44.97,-43.96,-8.92,-44.66,-41.39,-7.88,-44.87,-46.84,4.77,-45.00,-44.90,-1.58,-44.99,-44.51,-8.64,-64.12,-60.28,
15.58,-44.96,-43.84,-8.31,-44.71,-41.71,-8.74,-44.85,-46.99,3.91,-45.00,-44.93,-2.30,-44.98,-44.26,-13.09,-56.30,-55.79,
16.01,-44.95,-43.77,-7.98,-44.74,-41.88,-9.21,-44.84,-47.07,3.45,-45.00,-44.95,-2.67,-44.98,-44.13,-15.56,-49.20,-51.17,
16.13,-44.95,-43.75,-7.88,-44.74,-41.93,-9.34,-44.84,-47.09,3.32,-45.00,-44.95,-2.78,-44.97,-44.09,-16.30,-45.17,-48.35,
};

//波动步态前进，步幅2*pi*a=2*pi*0.017=10.676厘米
float forwardaF1[60][18] = {
31.36,-29.54,-22.45,-11.61,-26.84,-15.33,-19.25,-27.79,-37.36,6.94,-30.00,-29.69,-4.55,-29.66,-25.93,-37.15,-25.95,-38.95,
30.30,-35.00,-27.24,-11.49,-26.92,-15.58,-19.58,-27.74,-37.42,6.66,-30.00,-29.71,-4.72,-29.64,-25.75,-36.76,-25.97,-38.93,
26.54,-44.78,-36.14,-11.06,-27.21,-16.42,-20.71,-27.58,-37.59,5.70,-30.00,-29.79,-5.28,-29.53,-25.11,-35.41,-26.05,-38.88,
18.79,-56.41,-46.63,-10.24,-27.71,-17.95,-22.89,-27.29,-37.90,3.89,-30.00,-29.90,-6.31,-29.29,-23.87,-32.93,-26.22,-38.76,
6.90,-65.28,-54.34,-9.06,-28.32,-19.97,-26.00,-26.91,-38.25,1.39,-30.00,-29.99,-7.66,-28.88,-22.08,-29.58,-26.52,-38.55,
-6.90,-65.26,-54.30,-7.66,-28.88,-22.08,-29.58,-26.53,-38.56,-1.39,-30.00,-29.99,-9.06,-28.32,-19.97,-26.00,-26.90,-38.24,
-18.77,-56.36,-46.52,-6.31,-29.29,-23.87,-32.92,-26.24,-38.77,-3.89,-30.00,-29.90,-10.24,-27.71,-17.95,-22.89,-27.28,-37.89,
-26.51,-44.73,-35.99,-5.28,-29.53,-25.11,-35.41,-26.07,-38.89,-5.70,-30.00,-29.79,-11.06,-27.21,-16.42,-20.72,-27.57,-37.59,
-30.26,-34.95,-27.08,-4.72,-29.64,-25.75,-36.75,-25.99,-38.94,-6.66,-30.00,-29.71,-11.49,-26.93,-15.58,-19.58,-27.73,-37.41,
-31.03,-31.58,-24.09,-4.59,-29.66,-25.88,-37.04,-25.97,-38.95,-6.87,-30.00,-29.69,-11.58,-26.86,-15.39,-19.35,-27.76,-37.37,
-31.36,-28.79,-21.71,-4.54,-29.66,-25.93,-37.16,-25.97,-38.96,-6.95,-30.00,-29.68,-11.62,-26.83,-15.31,-19.24,-27.78,-37.35,
-31.29,-28.80,-21.75,-4.49,-29.67,-26.00,-36.54,-29.25,-41.55,-7.04,-30.00,-29.67,-11.65,-26.80,-15.24,-19.14,-27.79,-37.33,
-30.86,-28.87,-22.04,-4.13,-29.73,-26.37,-32.51,-38.74,-48.42,-7.62,-30.00,-29.62,-11.91,-26.62,-14.71,-18.47,-27.89,-37.22,
-29.82,-29.03,-22.69,-3.27,-29.84,-27.23,-23.50,-52.94,-56.88,-8.99,-29.99,-29.47,-12.48,-26.16,-13.45,-16.91,-28.11,-36.92,
-28.13,-29.25,-23.66,-1.85,-29.95,-28.53,-11.33,-65.86,-61.43,-11.13,-29.98,-29.17,-13.36,-25.37,-11.39,-14.53,-28.47,-36.40,
-25.99,-29.46,-24.75,-0.01,-30.01,-30.01,-0.00,-66.66,-55.51,-13.71,-29.96,-28.73,-14.39,-24.30,-8.74,-11.78,-28.87,-35.66,
-23.77,-29.63,-25.73,1.98,-29.95,-31.35,8.14,-56.61,-41.42,-16.23,-29.93,-28.18,-15.35,-23.11,-5.96,-9.18,-29.24,-34.81,
-21.90,-29.74,-26.45,3.69,-29.84,-32.36,13.09,-43.37,-25.52,-18.24,-29.88,-27.66,-16.10,-22.05,-3.58,-7.18,-29.49,-34.04,
-20.69,-29.80,-26.87,4.83,-29.74,-32.95,15.65,-31.49,-12.08,-19.50,-29.84,-27.30,-16.55,-21.34,-2.03,-5.97,-29.63,-33.50,
-20.17,-29.82,-27.04,5.32,-29.70,-33.20,16.62,-23.59,-3.75,-20.02,-29.82,-27.13,-16.74,-21.03,-1.36,-5.47,-29.68,-33.27,
-20.09,-29.82,-27.07,5.39,-29.69,-33.23,16.77,-20.96,-1.24,-20.09,-29.82,-27.11,-16.77,-20.98,-1.26,-5.39,-29.69,-33.23,
-20.01,-29.82,-27.10,5.47,-29.68,-33.27,16.74,-21.01,-1.35,-20.18,-29.82,-27.08,-16.62,-23.61,-3.76,-5.32,-29.70,-33.19,
-19.49,-29.84,-27.26,5.97,-29.63,-33.50,16.55,-21.32,-2.01,-20.69,-29.80,-26.92,-15.65,-31.50,-12.08,-4.83,-29.74,-32.95,
-18.24,-29.88,-27.63,7.18,-29.49,-34.04,16.10,-22.03,-3.57,-21.91,-29.74,-26.50,-13.09,-43.37,-25.51,-3.69,-29.84,-32.36,
-16.23,-29.93,-28.15,9.18,-29.24,-34.81,15.35,-23.09,-5.94,-23.78,-29.64,-25.78,-8.14,-56.60,-41.40,-1.98,-29.95,-31.35,
-13.70,-29.96,-28.70,11.78,-28.87,-35.66,14.39,-24.28,-8.73,-26.00,-29.47,-24.80,-0.00,-66.63,-55.47,-0.00,-30.00,-30.00,
-11.13,-29.98,-29.15,14.54,-28.46,-36.40,13.36,-25.35,-11.38,-28.15,-29.25,-23.71,11.33,-65.80,-61.39,1.85,-29.95,-28.53,
-8.99,-29.99,-29.45,16.91,-28.11,-36.92,12.48,-26.14,-13.44,-29.84,-29.04,-22.75,23.50,-52.90,-56.85,3.27,-29.84,-27.23,
-7.62,-30.00,-29.60,18.47,-27.88,-37.22,11.90,-26.60,-14.71,-30.88,-28.88,-22.10,32.52,-38.71,-48.40,4.13,-29.73,-26.37,
-7.04,-30.00,-29.66,19.14,-27.79,-37.34,11.65,-26.79,-15.23,-31.31,-28.81,-21.82,36.55,-29.22,-41.54,4.49,-29.68,-26.00,
-6.95,-30.00,-29.67,19.24,-27.77,-37.36,11.62,-26.82,-15.31,-31.37,-28.80,-21.77,37.18,-25.94,-38.95,4.54,-29.67,-25.94,
-6.86,-30.00,-29.68,19.35,-27.76,-37.37,11.58,-26.85,-15.39,-31.04,-31.59,-24.16,37.05,-25.95,-38.95,4.59,-29.66,-25.88,
-6.28,-30.00,-29.73,20.03,-27.66,-37.48,11.32,-27.03,-15.90,-28.83,-39.44,-31.21,36.24,-25.99,-38.92,4.94,-29.60,-25.50,
-4.90,-30.00,-29.83,21.68,-27.43,-37.73,10.70,-27.43,-17.10,-23.20,-50.57,-41.36,34.32,-26.11,-38.84,5.75,-29.43,-24.57,
-2.70,-30.00,-29.95,24.36,-27.09,-38.07,9.69,-28.00,-18.92,-13.28,-61.60,-51.16,31.33,-26.35,-38.68,6.96,-29.11,-23.04,
0.00,-30.00,-30.00,27.78,-26.69,-38.41,8.37,-28.61,-21.04,0.00,-66.66,-55.51,27.78,-26.69,-38.41,8.37,-28.62,-21.05,
2.70,-30.00,-29.96,31.33,-26.35,-38.68,6.96,-29.10,-23.03,13.28,-61.60,-51.17,24.36,-27.09,-38.07,9.69,-28.02,-18.93,
4.90,-30.00,-29.86,34.32,-26.11,-38.84,5.75,-29.42,-24.57,23.20,-50.58,-41.37,21.68,-27.43,-37.73,10.71,-27.44,-17.11,
6.28,-30.00,-29.76,36.24,-25.99,-38.92,4.94,-29.59,-25.50,28.84,-39.45,-31.23,20.03,-27.66,-37.48,11.32,-27.04,-15.92,
6.87,-30.00,-29.71,37.05,-25.95,-38.95,4.59,-29.65,-25.88,31.05,-31.60,-24.17,19.35,-27.76,-37.37,11.58,-26.86,-15.40,
6.96,-30.00,-29.70,37.18,-25.94,-38.95,4.54,-29.66,-25.94,31.38,-28.80,-21.79,19.24,-27.77,-37.36,11.62,-26.84,-15.32,
7.04,-30.00,-29.69,36.55,-29.22,-41.54,4.49,-29.67,-25.99,31.31,-28.82,-21.83,19.14,-27.79,-37.34,11.66,-26.81,-15.24,
7.62,-30.00,-29.64,32.52,-38.70,-48.40,4.13,-29.72,-26.37,30.88,-28.89,-22.12,18.47,-27.88,-37.22,11.91,-26.62,-14.72,
8.99,-29.99,-29.49,23.50,-52.90,-56.85,3.27,-29.83,-27.23,29.84,-29.04,-22.77,16.91,-28.11,-36.92,12.49,-26.16,-13.46,
11.13,-29.99,-29.20,11.33,-65.81,-61.39,1.85,-29.95,-28.53,28.15,-29.26,-23.73,14.54,-28.46,-36.40,13.37,-25.37,-11.40,
13.71,-29.97,-28.76,0.00,-66.62,-55.47,-0.00,-30.00,-30.00,26.01,-29.47,-24.81,11.78,-28.87,-35.66,14.39,-24.30,-8.75,
16.24,-29.93,-28.22,-8.14,-56.59,-41.40,-1.98,-29.95,-31.35,23.78,-29.64,-25.79,9.18,-29.24,-34.81,15.35,-23.11,-5.97,
18.25,-29.89,-27.71,-13.09,-43.37,-25.51,-3.69,-29.85,-32.36,21.91,-29.74,-26.51,7.18,-29.49,-34.04,16.10,-22.06,-3.60,
19.51,-29.85,-27.35,-15.65,-31.50,-12.08,-4.83,-29.75,-32.96,20.70,-29.80,-26.93,5.97,-29.63,-33.50,16.55,-21.35,-2.04,
20.03,-29.83,-27.19,-16.62,-23.61,-3.76,-5.32,-29.70,-33.20,20.18,-29.82,-27.09,5.47,-29.68,-33.27,16.74,-21.04,-1.38,
20.11,-29.83,-27.16,-16.77,-20.98,-1.26,-5.39,-29.69,-33.23,20.10,-29.82,-27.12,5.39,-29.69,-33.23,16.77,-20.99,-1.27,
20.19,-29.83,-27.14,-16.74,-21.03,-1.36,-5.47,-29.69,-33.27,20.02,-29.82,-27.14,5.32,-29.70,-33.20,16.63,-23.62,-3.78,
20.71,-29.81,-26.97,-16.55,-21.34,-2.03,-5.97,-29.63,-33.51,19.50,-29.84,-27.31,4.83,-29.74,-32.95,15.65,-31.51,-12.09,
21.92,-29.75,-26.56,-16.10,-22.05,-3.58,-7.18,-29.50,-34.04,18.25,-29.88,-27.67,3.69,-29.84,-32.36,13.09,-43.38,-25.52,
23.79,-29.65,-25.84,-15.35,-23.11,-5.96,-9.18,-29.24,-34.82,16.23,-29.93,-28.19,1.98,-29.95,-31.35,8.14,-56.60,-41.41,
26.02,-29.49,-24.88,-14.39,-24.30,-8.74,-11.77,-28.88,-35.67,13.71,-29.96,-28.73,0.00,-30.00,-30.00,-0.00,-66.63,-55.47,
28.17,-29.28,-23.80,-13.36,-25.37,-11.39,-14.53,-28.48,-36.40,11.13,-29.98,-29.18,-1.85,-29.95,-28.53,-11.33,-65.80,-61.38,
29.86,-29.07,-22.84,-12.48,-26.16,-13.45,-16.91,-28.13,-36.93,8.99,-29.99,-29.47,-3.27,-29.84,-27.23,-23.50,-52.90,-56.84,
30.90,-28.91,-22.19,-11.90,-26.62,-14.71,-18.47,-27.90,-37.22,7.62,-30.00,-29.62,-4.13,-29.73,-26.37,-32.51,-38.71,-48.39,
31.33,-28.84,-21.91,-11.65,-26.81,-15.24,-19.14,-27.80,-37.34,7.04,-30.00,-29.68,-4.49,-29.68,-26.00,-36.54,-29.23,-41.53,
};

//波动步态前进，步幅2*pi*a=2*pi*0.017=10.676厘米
float forwardaF2[60][18] = {
28.04,-18.11,-11.87,-10.51,-12.42,-1.50,-16.60,-13.25,-22.22,6.08,-15.00,-14.75,-4.10,-14.73,-11.18,-31.53,-11.54,-24.15,
25.97,-28.73,-21.66,-10.27,-12.57,-1.97,-17.18,-13.17,-22.34,5.56,-15.00,-14.79,-4.41,-14.68,-10.83,-30.83,-11.60,-24.10,
20.76,-43.32,-34.60,-9.70,-12.91,-3.08,-18.56,-12.98,-22.61,4.33,-15.00,-14.87,-5.14,-14.55,-9.97,-29.20,-11.74,-23.98,
11.79,-57.41,-46.31,-8.75,-13.39,-4.77,-20.82,-12.68,-23.00,2.39,-15.00,-14.96,-6.25,-14.29,-8.56,-26.68,-11.98,-23.75,
-0.00,-63.78,-51.30,-7.54,-13.89,-6.72,-23.69,-12.33,-23.41,-0.00,-15.00,-15.00,-7.54,-13.89,-6.72,-23.69,-12.32,-23.41,
-11.78,-57.38,-46.24,-6.25,-14.29,-8.56,-26.68,-12.00,-23.76,-2.39,-15.00,-14.96,-8.75,-13.39,-4.77,-20.82,-12.67,-22.99,
-20.74,-43.28,-34.48,-5.14,-14.55,-9.97,-29.20,-11.75,-23.99,-4.33,-15.00,-14.87,-9.70,-12.91,-3.08,-18.56,-12.97,-22.60,
-25.94,-28.70,-21.52,-4.41,-14.68,-10.83,-30.83,-11.61,-24.11,-5.56,-15.00,-14.79,-10.27,-12.57,-1.97,-17.18,-13.16,-22.33,
-28.00,-18.08,-11.72,-4.10,-14.73,-11.18,-31.53,-11.55,-24.16,-6.08,-15.00,-14.75,-10.51,-12.42,-1.50,-16.61,-13.24,-22.21,
-28.31,-14.20,-8.14,-4.05,-14.74,-11.23,-31.63,-11.54,-24.17,-6.15,-15.00,-14.74,-10.55,-12.40,-1.42,-16.52,-13.25,-22.19,
-28.25,-14.21,-8.18,-4.00,-14.74,-11.29,-31.10,-15.73,-27.86,-6.23,-15.00,-14.73,-10.58,-12.37,-1.35,-16.43,-13.26,-22.17,
-27.85,-14.26,-8.41,-3.68,-14.79,-11.63,-27.69,-27.67,-37.40,-6.75,-15.00,-14.69,-10.82,-12.22,-0.86,-15.87,-13.34,-22.04,
-26.87,-14.37,-8.95,-2.91,-14.87,-12.43,-20.10,-45.19,-48.87,-7.96,-15.00,-14.56,-11.36,-11.82,0.31,-14.55,-13.52,-21.73,
-25.30,-14.51,-9.76,-1.64,-14.96,-13.63,-9.82,-61.34,-55.88,-9.87,-14.99,-14.32,-12.19,-11.14,2.24,-12.54,-13.80,-21.18,
-23.32,-14.66,-10.66,0.00,-15.00,-15.00,-0.00,-63.83,-51.35,-12.17,-14.98,-13.95,-13.15,-10.21,4.72,-10.20,-14.12,-20.43,
-21.27,-14.77,-11.48,1.74,-14.96,-16.26,7.33,-52.87,-37.11,-14.43,-14.95,-13.50,-14.07,-9.16,7.35,-7.98,-14.41,-19.58,
-19.56,-14.84,-12.07,3.24,-14.88,-17.22,11.93,-37.07,-19.62,-16.25,-14.92,-13.07,-14.78,-8.21,9.61,-6.26,-14.61,-18.83,
-18.46,-14.87,-12.42,4.23,-14.80,-17.79,14.36,-21.93,-3.40,-17.38,-14.90,-12.77,-15.22,-7.57,11.09,-5.22,-14.71,-18.31,
-17.99,-14.88,-12.56,4.65,-14.76,-18.02,15.29,-11.09,7.96,-17.85,-14.89,-12.64,-15.40,-7.29,11.73,-4.78,-14.75,-18.09,
-17.92,-14.89,-12.58,4.72,-14.76,-18.05,15.43,-7.22,11.84,-17.93,-14.89,-12.62,-15.43,-7.24,11.83,-4.72,-14.76,-18.05,
-17.85,-14.89,-12.60,4.78,-14.75,-18.09,15.40,-7.26,11.75,-18.00,-14.88,-12.59,-15.29,-11.11,7.94,-4.65,-14.76,-18.02,
-17.37,-14.90,-12.74,5.22,-14.71,-18.31,15.22,-7.54,11.11,-18.47,-14.87,-12.46,-14.36,-21.94,-3.40,-4.23,-14.80,-17.78,
-16.24,-14.92,-13.04,6.26,-14.60,-18.83,14.79,-8.19,9.62,-19.57,-14.84,-12.11,-11.93,-37.06,-19.60,-3.24,-14.88,-17.22,
-14.43,-14.95,-13.47,7.98,-14.41,-19.59,14.07,-9.14,7.37,-21.28,-14.77,-11.52,-7.33,-52.83,-37.08,-1.74,-14.96,-16.26,
-12.17,-14.98,-13.93,10.20,-14.12,-20.43,13.15,-10.19,4.74,-23.33,-14.66,-10.71,-0.00,-63.78,-51.30,-0.00,-15.00,-15.00,
-9.86,-14.99,-14.30,12.55,-13.80,-21.18,12.19,-11.13,2.25,-25.32,-14.52,-9.81,9.82,-61.27,-55.83,1.64,-14.96,-13.63,
-7.96,-15.00,-14.54,14.55,-13.52,-21.73,11.36,-11.81,0.32,-26.89,-14.37,-9.01,20.10,-45.14,-48.83,2.91,-14.87,-12.43,
-6.75,-15.00,-14.67,15.87,-13.34,-22.05,10.82,-12.20,-0.86,-27.86,-14.26,-8.47,27.69,-27.63,-37.38,3.68,-14.79,-11.64,
-6.23,-15.00,-14.72,16.43,-13.26,-22.18,10.58,-12.36,-1.34,-28.27,-14.22,-8.23,31.11,-15.70,-27.85,4.00,-14.74,-11.29,
-6.15,-15.00,-14.73,16.52,-13.24,-22.19,10.55,-12.38,-1.42,-28.33,-14.21,-8.20,31.64,-11.52,-24.17,4.05,-14.74,-11.24,
-6.07,-15.00,-14.73,16.61,-13.23,-22.21,10.51,-12.41,-1.49,-28.02,-18.09,-11.78,31.54,-11.53,-24.16,4.10,-14.73,-11.18,
-5.56,-15.00,-14.78,17.18,-13.15,-22.34,10.27,-12.56,-1.97,-25.95,-28.72,-21.59,30.84,-11.59,-24.11,4.41,-14.68,-10.83,
-4.33,-15.00,-14.86,18.57,-12.96,-22.61,9.70,-12.90,-3.08,-20.75,-43.32,-34.56,29.21,-11.73,-23.98,5.14,-14.55,-9.98,
-2.39,-15.00,-14.96,20.82,-12.67,-23.00,8.75,-13.38,-4.76,-11.79,-57.44,-46.31,26.69,-11.98,-23.75,6.25,-14.29,-8.56,
0.00,-15.00,-15.00,23.70,-12.31,-23.41,7.54,-13.88,-6.72,-0.00,-63.83,-51.35,23.70,-12.31,-23.41,7.54,-13.89,-6.73,
2.39,-15.00,-14.97,26.69,-11.98,-23.75,6.25,-14.28,-8.56,11.79,-57.44,-46.32,20.82,-12.67,-23.00,8.75,-13.39,-4.77,
4.33,-15.00,-14.88,29.21,-11.73,-23.98,5.14,-14.54,-9.97,20.75,-43.33,-34.57,18.57,-12.96,-22.61,9.70,-12.91,-3.09,
5.56,-15.00,-14.80,30.84,-11.59,-24.11,4.41,-14.68,-10.83,25.95,-28.72,-21.60,17.18,-13.15,-22.34,10.27,-12.57,-1.98,
6.08,-15.00,-14.76,31.54,-11.53,-24.16,4.10,-14.72,-11.18,28.02,-18.10,-11.80,16.61,-13.23,-22.21,10.51,-12.42,-1.50,
6.16,-15.00,-14.75,31.64,-11.52,-24.16,4.05,-14.73,-11.23,28.33,-14.21,-8.21,16.52,-13.24,-22.19,10.55,-12.40,-1.43,
6.23,-15.00,-14.75,31.11,-15.70,-27.85,4.00,-14.74,-11.29,28.27,-14.22,-8.25,16.43,-13.26,-22.18,10.58,-12.38,-1.36,
6.75,-15.00,-14.70,27.69,-27.63,-37.38,3.68,-14.78,-11.63,27.87,-14.27,-8.48,15.87,-13.34,-22.05,10.82,-12.22,-0.87,
7.96,-15.00,-14.58,20.10,-45.14,-48.83,2.91,-14.87,-12.43,26.89,-14.37,-9.02,14.55,-13.52,-21.73,11.36,-11.82,0.30,
9.87,-14.99,-14.34,9.82,-61.27,-55.83,1.64,-14.96,-13.63,25.32,-14.52,-9.82,12.55,-13.80,-21.18,12.19,-11.15,2.23,
12.17,-14.98,-13.98,-0.00,-63.78,-51.30,-0.00,-15.00,-15.00,23.33,-14.66,-10.72,10.20,-14.12,-20.43,13.15,-10.21,4.71,
14.44,-14.96,-13.54,-7.33,-52.83,-37.08,-1.74,-14.96,-16.26,21.29,-14.77,-11.53,7.98,-14.41,-19.59,14.07,-9.16,7.34,
16.25,-14.93,-13.11,-11.93,-37.06,-19.60,-3.24,-14.88,-17.22,19.57,-14.84,-12.12,6.26,-14.60,-18.83,14.79,-8.22,9.59,
17.39,-14.91,-12.82,-14.36,-21.94,-3.40,-4.23,-14.81,-17.79,18.47,-14.87,-12.47,5.22,-14.71,-18.31,15.22,-7.57,11.08,
17.86,-14.90,-12.68,-15.29,-11.11,7.94,-4.65,-14.77,-18.02,18.00,-14.89,-12.60,4.78,-14.75,-18.09,15.40,-7.29,11.71,
17.93,-14.89,-12.66,-15.43,-7.24,11.83,-4.72,-14.76,-18.05,17.93,-14.89,-12.62,4.72,-14.76,-18.05,15.43,-7.25,11.81,
18.00,-14.89,-12.64,-15.40,-7.29,11.73,-4.78,-14.76,-18.09,17.85,-14.89,-12.65,4.65,-14.76,-18.02,15.29,-11.12,7.93,
18.48,-14.88,-12.51,-15.22,-7.57,11.09,-5.22,-14.72,-18.31,17.38,-14.90,-12.78,4.23,-14.80,-17.79,14.36,-21.94,-3.41,
19.58,-14.85,-12.16,-14.78,-8.21,9.61,-6.26,-14.61,-18.83,16.25,-14.93,-13.08,3.24,-14.88,-17.22,11.93,-37.06,-19.61,
21.29,-14.78,-11.58,-14.07,-9.16,7.35,-7.98,-14.41,-19.59,14.44,-14.95,-13.51,1.74,-14.96,-16.26,7.33,-52.84,-37.08,
23.34,-14.67,-10.78,-13.15,-10.21,4.72,-10.20,-14.13,-20.43,12.17,-14.98,-13.96,0.00,-15.00,-15.00,-0.00,-63.78,-51.30,
25.33,-14.53,-9.88,-12.19,-11.14,2.24,-12.54,-13.81,-21.19,9.87,-14.99,-14.32,-1.64,-14.96,-13.63,-9.82,-61.27,-55.82,
26.90,-14.39,-9.09,-11.36,-11.82,0.31,-14.55,-13.53,-21.73,7.96,-15.00,-14.56,-2.91,-14.87,-12.43,-20.10,-45.14,-48.83,
27.88,-14.29,-8.55,-10.82,-12.22,-0.86,-15.87,-13.35,-22.05,6.75,-15.00,-14.69,-3.68,-14.79,-11.63,-27.69,-27.64,-37.37,
28.29,-14.24,-8.32,-10.58,-12.37,-1.35,-16.43,-13.27,-22.18,6.23,-15.00,-14.74,-4.00,-14.74,-11.29,-31.10,-15.71,-27.85,
28.35,-14.23,-8.28,-10.55,-12.40,-1.42,-16.52,-13.26,-22.20,6.15,-15.00,-14.74,-4.05,-14.74,-11.23,-31.64,-11.53,-24.16
};






//波动步态向右横移，步幅2*pi*a=2*pi*0.015=9.42厘米
float forwardaFH[120][18] = {
-0.00,-26.47,-14.15,-8.30,-28.84,-35.49,8.32,-28.84,-35.49,0.00,-29.83,-27.29,-2.39,-29.87,-32.10,16.31,-26.95,-37.80,
-0.00,-29.42,-17.09,-8.16,-28.87,-35.43,8.46,-28.81,-35.55,0.00,-29.84,-27.40,-2.49,-29.86,-32.18,16.12,-26.99,-37.76,
-0.00,-34.84,-23.23,-7.70,-28.97,-35.23,8.94,-28.70,-35.74,0.00,-29.89,-27.80,-2.86,-29.82,-32.45,15.49,-27.14,-37.63,
-0.00,-41.35,-31.59,-6.84,-29.15,-34.83,9.88,-28.49,-36.09,0.00,-29.95,-28.52,-3.55,-29.73,-32.94,14.33,-27.42,-37.38,
-0.00,-46.64,-40.14,-5.72,-29.37,-34.26,11.23,-28.17,-36.54,0.00,-30.00,-29.49,-4.55,-29.58,-33.59,12.81,-27.79,-37.00,
-0.00,-47.96,-46.22,-4.55,-29.58,-33.59,12.81,-27.79,-37.00,-0.00,-30.00,-30.51,-5.72,-29.37,-34.26,11.23,-28.17,-36.54,
0.00,-43.79,-47.82,-3.55,-29.73,-32.94,14.33,-27.42,-37.38,-0.00,-29.95,-31.40,-6.84,-29.15,-34.83,9.88,-28.49,-36.09,
0.00,-36.20,-45.50,-2.86,-29.82,-32.45,15.49,-27.14,-37.63,-0.00,-29.88,-32.01,-7.70,-28.97,-35.23,8.94,-28.70,-35.74,
0.00,-29.25,-41.83,-2.49,-29.86,-32.18,16.12,-26.99,-37.76,-0.00,-29.84,-32.34,-8.16,-28.87,-35.43,8.45,-28.81,-35.55,
0.00,-25.50,-39.30,-2.39,-29.87,-32.10,16.31,-26.95,-37.80,-0.00,-29.82,-32.43,-8.30,-28.84,-35.49,8.32,-28.84,-35.49,
0.00,-25.05,-38.94,-2.38,-29.87,-32.10,16.28,-27.39,-38.15,-0.00,-29.82,-32.44,-8.32,-28.84,-35.49,8.30,-28.84,-35.49,
0.00,-25.13,-38.90,-2.28,-29.88,-32.02,15.35,-30.92,-40.65,-0.00,-29.80,-32.53,-8.46,-28.81,-35.55,8.16,-28.87,-35.43,
0.00,-25.42,-38.77,-1.93,-29.91,-31.74,12.37,-37.24,-44.29,-0.00,-29.75,-32.84,-8.94,-28.70,-35.74,7.70,-28.97,-35.23,
0.00,-25.93,-38.50,-1.29,-29.96,-31.20,7.59,-44.06,-46.82,-0.00,-29.63,-33.42,-9.88,-28.49,-36.09,6.84,-29.15,-34.83,
0.00,-26.58,-38.09,-0.45,-29.99,-30.44,2.36,-47.91,-45.82,-0.00,-29.40,-34.17,-11.23,-28.17,-36.54,5.72,-29.37,-34.26,
0.00,-27.22,-37.58,0.44,-29.99,-29.55,-2.07,-46.76,-40.55,-0.00,-29.11,-34.95,-12.81,-27.79,-37.00,4.55,-29.58,-33.59,
0.00,-27.74,-37.07,1.20,-29.96,-28.71,-5.21,-41.75,-32.70,-0.00,-28.78,-35.62,-14.33,-27.42,-37.38,3.55,-29.73,-32.94,
0.00,-28.08,-36.67,1.73,-29.91,-28.09,-7.11,-35.45,-24.80,-0.00,-28.51,-36.07,-15.49,-27.14,-37.63,2.86,-29.82,-32.45,
0.00,-28.25,-36.44,2.00,-29.88,-27.74,-8.01,-30.10,-18.89,-0.00,-28.35,-36.30,-16.12,-26.99,-37.76,2.49,-29.86,-32.18,
0.00,-28.29,-36.37,2.08,-29.87,-27.64,-8.26,-27.17,-16.01,-0.00,-28.30,-36.37,-16.31,-26.95,-37.80,2.39,-29.87,-32.10,
0.00,-28.30,-36.37,2.09,-29.87,-27.63,-8.27,-26.80,-15.69,-0.00,-28.29,-36.37,-16.28,-27.39,-38.15,2.38,-29.87,-32.10,
0.00,-28.35,-36.30,2.17,-29.86,-27.53,-8.22,-26.85,-15.83,-0.00,-28.25,-36.44,-15.35,-30.92,-40.65,2.28,-29.88,-32.02,
0.00,-28.50,-36.07,2.44,-29.82,-27.18,-8.05,-27.02,-16.31,-0.00,-28.08,-36.67,-12.37,-37.24,-44.29,1.93,-29.91,-31.74,
0.00,-28.78,-35.62,2.92,-29.73,-26.51,-7.72,-27.33,-17.20,-0.00,-27.74,-37.07,-7.59,-44.06,-46.82,1.29,-29.96,-31.20,
0.00,-29.11,-34.95,3.57,-29.58,-25.56,-7.25,-27.73,-18.39,-0.00,-27.22,-37.58,-2.36,-47.91,-45.82,0.45,-29.99,-30.44,
0.00,-29.41,-34.17,4.26,-29.37,-24.47,-6.71,-28.13,-19.68,-0.00,-26.58,-38.09,2.07,-46.76,-40.55,-0.44,-29.99,-29.55,
0.00,-29.63,-33.42,4.85,-29.15,-23.45,-6.20,-28.47,-20.80,-0.00,-25.93,-38.51,5.21,-41.75,-32.70,-1.20,-29.96,-28.71,
0.00,-29.75,-32.84,5.26,-28.97,-22.69,-5.81,-28.69,-21.60,-0.00,-25.42,-38.77,7.11,-35.45,-24.80,-1.73,-29.91,-28.09,
0.00,-29.80,-32.53,5.47,-28.86,-22.28,-5.60,-28.80,-22.02,-0.00,-25.13,-38.90,8.01,-30.10,-18.89,-2.00,-29.88,-27.74,
0.00,-29.82,-32.44,5.54,-28.83,-22.16,-5.54,-28.83,-22.15,-0.00,-25.05,-38.94,8.26,-27.17,-16.01,-2.08,-29.87,-27.64,
0.00,-29.82,-32.43,5.54,-28.83,-22.15,-5.54,-28.83,-22.16,-0.00,-25.50,-39.30,8.27,-26.80,-15.69,-2.09,-29.87,-27.63,
0.00,-29.84,-32.34,5.60,-28.80,-22.02,-5.47,-28.86,-22.28,-0.00,-29.25,-41.83,8.22,-26.85,-15.83,-2.17,-29.86,-27.53,
0.00,-29.88,-32.01,5.81,-28.69,-21.60,-5.26,-28.97,-22.69,-0.00,-36.20,-45.50,8.05,-27.02,-16.31,-2.44,-29.82,-27.18,
0.00,-29.95,-31.40,6.20,-28.47,-20.80,-4.85,-29.15,-23.45,-0.00,-43.79,-47.82,7.72,-27.33,-17.20,-2.92,-29.73,-26.51,
0.00,-30.00,-30.51,6.71,-28.13,-19.68,-4.26,-29.37,-24.47,-0.00,-47.96,-46.22,7.25,-27.73,-18.39,-3.57,-29.58,-25.56,
-0.00,-30.00,-29.49,7.25,-27.73,-18.39,-3.57,-29.58,-25.56,-0.00,-46.64,-40.14,6.71,-28.13,-19.68,-4.26,-29.37,-24.47,
-0.00,-29.95,-28.52,7.72,-27.33,-17.20,-2.92,-29.73,-26.51,0.00,-41.35,-31.59,6.20,-28.47,-20.80,-4.85,-29.15,-23.45,
-0.00,-29.89,-27.80,8.05,-27.02,-16.31,-2.44,-29.82,-27.18,0.00,-34.84,-23.23,5.81,-28.69,-21.60,-5.26,-28.97,-22.69,
-0.00,-29.84,-27.40,8.22,-26.85,-15.83,-2.17,-29.86,-27.53,0.00,-29.42,-17.09,5.60,-28.80,-22.02,-5.47,-28.86,-22.28,
-0.00,-29.83,-27.29,8.27,-26.80,-15.69,-2.09,-29.87,-27.63,0.00,-26.47,-14.15,5.54,-28.83,-22.15,-5.54,-28.83,-22.16,
-0.00,-29.83,-27.28,8.26,-27.17,-16.01,-2.08,-29.87,-27.64,-0.00,-26.11,-13.83,5.54,-28.83,-22.16,-5.54,-28.83,-22.15,
-0.00,-29.81,-27.16,8.01,-30.10,-18.89,-2.00,-29.88,-27.74,0.00,-26.17,-13.99,5.47,-28.86,-22.28,-5.60,-28.80,-22.02,
-0.00,-29.76,-26.76,7.11,-35.45,-24.80,-1.73,-29.91,-28.09,0.00,-26.37,-14.52,5.26,-28.97,-22.69,-5.81,-28.69,-21.60,
-0.00,-29.65,-26.00,5.21,-41.75,-32.70,-1.20,-29.96,-28.71,0.00,-26.74,-15.51,4.85,-29.15,-23.45,-6.20,-28.47,-20.80,
-0.00,-29.46,-24.92,2.07,-46.76,-40.55,-0.44,-29.99,-29.55,0.00,-27.21,-16.85,4.26,-29.37,-24.47,-6.71,-28.13,-19.68,
-0.00,-29.20,-23.68,-2.36,-47.91,-45.82,0.45,-29.99,-30.44,0.00,-27.70,-18.28,3.57,-29.58,-25.56,-7.25,-27.73,-18.39,
-0.00,-28.93,-22.52,-7.59,-44.06,-46.82,1.29,-29.96,-31.20,0.00,-28.10,-19.54,2.92,-29.73,-26.51,-7.72,-27.33,-17.20,
-0.00,-28.70,-21.66,-12.37,-37.24,-44.29,1.93,-29.91,-31.74,0.00,-28.36,-20.44,2.44,-29.82,-27.18,-8.05,-27.02,-16.31,
-0.00,-28.58,-21.20,-15.35,-30.92,-40.65,2.28,-29.88,-32.02,0.00,-28.50,-20.91,2.17,-29.86,-27.53,-8.22,-26.85,-15.83,
-0.00,-28.54,-21.06,-16.28,-27.39,-38.15,2.38,-29.87,-32.10,0.00,-28.53,-21.05,2.09,-29.87,-27.63,-8.27,-26.80,-15.69,
-0.00,-28.53,-21.05,-16.31,-26.95,-37.80,2.39,-29.87,-32.10,0.00,-28.54,-21.06,2.08,-29.87,-27.64,-8.26,-27.17,-16.01,
-0.00,-28.50,-20.91,-16.12,-26.99,-37.76,2.49,-29.86,-32.18,0.00,-28.58,-21.20,2.00,-29.88,-27.74,-8.01,-30.10,-18.89,
-0.00,-28.36,-20.44,-15.49,-27.14,-37.63,2.86,-29.82,-32.45,0.00,-28.70,-21.66,1.73,-29.91,-28.09,-7.11,-35.45,-24.80,
-0.00,-28.09,-19.54,-14.33,-27.42,-37.38,3.55,-29.73,-32.94,0.00,-28.93,-22.52,1.20,-29.96,-28.71,-5.21,-41.75,-32.70,
-0.00,-27.70,-18.28,-12.81,-27.79,-37.00,4.55,-29.58,-33.59,0.00,-29.20,-23.68,0.44,-29.99,-29.55,-2.07,-46.76,-40.55,
-0.00,-27.21,-16.85,-11.23,-28.17,-36.54,5.72,-29.37,-34.26,0.00,-29.46,-24.92,-0.45,-29.99,-30.44,2.36,-47.91,-45.82,
-0.00,-26.74,-15.51,-9.88,-28.49,-36.09,6.84,-29.15,-34.83,0.00,-29.65,-26.00,-1.29,-29.96,-31.20,7.59,-44.06,-46.82,
-0.00,-26.37,-14.52,-8.94,-28.70,-35.74,7.70,-28.97,-35.23,0.00,-29.76,-26.76,-1.93,-29.91,-31.74,12.37,-37.24,-44.29,
-0.00,-26.17,-13.99,-8.46,-28.81,-35.55,8.16,-28.87,-35.43,0.00,-29.82,-27.16,-2.28,-29.88,-32.02,15.35,-30.92,-40.65,
-0.00,-26.11,-13.83,-8.31,-28.84,-35.49,8.30,-28.84,-35.49,0.00,-29.83,-27.28,-2.38,-29.87,-32.10,16.28,-27.39,-38.15,
};


//蹲起
float dunqia[40][18] = {
-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,
-0.00,-36.09,-38.48,-0.00,-36.09,-38.48,-0.00,-36.08,-38.47,-0.00,-36.08,-38.47,-0.00,-36.09,-38.48,-0.00,-36.09,-38.48,
-0.00,-31.94,-35.29,-0.00,-31.94,-35.29,-0.00,-31.93,-35.28,-0.00,-31.93,-35.28,-0.00,-31.94,-35.29,-0.00,-31.94,-35.29,
-0.00,-27.96,-32.12,-0.00,-27.96,-32.12,-0.00,-27.95,-32.11,-0.00,-27.95,-32.11,-0.00,-27.96,-32.12,-0.00,-27.96,-32.12,
-0.00,-24.11,-28.98,-0.00,-24.11,-28.98,-0.00,-24.10,-28.96,-0.00,-24.10,-28.96,-0.00,-24.11,-28.98,-0.00,-24.11,-28.98,
-0.00,-20.39,-25.84,-0.00,-20.39,-25.84,-0.00,-20.37,-25.81,-0.00,-20.37,-25.81,-0.00,-20.39,-25.84,-0.00,-20.39,-25.84,
-0.00,-16.76,-22.69,-0.00,-16.76,-22.69,-0.00,-16.74,-22.66,-0.00,-16.74,-22.66,-0.00,-16.76,-22.69,-0.00,-16.76,-22.69,
-0.00,-13.22,-19.53,-0.00,-13.22,-19.53,-0.00,-13.20,-19.50,-0.00,-13.20,-19.50,-0.00,-13.22,-19.53,-0.00,-13.22,-19.53,
-0.00,-9.76,-16.35,-0.00,-9.76,-16.35,-0.00,-9.73,-16.32,-0.00,-9.73,-16.32,-0.00,-9.76,-16.35,-0.00,-9.76,-16.35,
-0.00,-6.35,-13.14,-0.00,-6.35,-13.14,-0.00,-6.32,-13.10,-0.00,-6.32,-13.10,-0.00,-6.35,-13.14,-0.00,-6.35,-13.14,
-0.00,-2.98,-9.89,-0.00,-2.98,-9.89,-0.00,-2.95,-9.84,-0.00,-2.95,-9.84,-0.00,-2.98,-9.89,-0.00,-2.98,-9.89,
-0.00,0.35,-6.59,-0.00,0.35,-6.59,-0.00,0.39,-6.54,-0.00,0.39,-6.54,-0.00,0.35,-6.59,-0.00,0.35,-6.59,
-0.00,3.66,-3.23,-0.00,3.66,-3.23,-0.00,3.70,-3.18,-0.00,3.70,-3.18,-0.00,3.66,-3.23,-0.00,3.66,-3.23,
-0.00,6.96,0.19,-0.00,6.96,0.19,-0.00,7.00,0.25,-0.00,7.00,0.25,-0.00,6.96,0.19,-0.00,6.96,0.19,
-0.00,10.25,3.70,-0.00,10.25,3.70,-0.00,10.30,3.76,-0.00,10.30,3.76,-0.00,10.25,3.70,-0.00,10.25,3.70,
-0.00,13.57,7.30,-0.00,13.57,7.30,-0.00,13.62,7.36,-0.00,13.62,7.36,-0.00,13.57,7.30,-0.00,13.57,7.30,
-0.00,16.91,11.01,-0.00,16.91,11.01,-0.00,16.97,11.08,-0.00,16.97,11.08,-0.00,16.91,11.01,-0.00,16.91,11.01,
-0.00,20.30,14.84,-0.00,20.30,14.84,-0.00,20.37,14.92,-0.00,20.37,14.92,-0.00,20.30,14.84,-0.00,20.30,14.84,
-0.00,23.76,18.83,-0.00,23.76,18.83,-0.00,23.83,18.92,-0.00,23.83,18.92,-0.00,23.76,18.83,-0.00,23.76,18.83,
-0.00,27.30,23.01,-0.00,27.30,23.01,-0.00,27.38,23.10,-0.00,27.38,23.10,-0.00,27.30,23.01,-0.00,27.30,23.01,
-0.00,23.76,18.83,-0.00,23.76,18.83,-0.00,23.83,18.92,-0.00,23.83,18.92,-0.00,23.76,18.83,-0.00,23.76,18.83,
-0.00,20.30,14.84,-0.00,20.30,14.84,-0.00,20.37,14.92,-0.00,20.37,14.92,-0.00,20.30,14.84,-0.00,20.30,14.84,
-0.00,16.91,11.01,-0.00,16.91,11.01,-0.00,16.97,11.08,-0.00,16.97,11.08,-0.00,16.91,11.01,-0.00,16.91,11.01,
-0.00,13.57,7.30,-0.00,13.57,7.30,-0.00,13.62,7.36,-0.00,13.62,7.36,-0.00,13.57,7.30,-0.00,13.57,7.30,
-0.00,10.25,3.70,-0.00,10.25,3.70,-0.00,10.30,3.76,-0.00,10.30,3.76,-0.00,10.25,3.70,-0.00,10.25,3.70,
-0.00,6.96,0.19,-0.00,6.96,0.19,-0.00,7.00,0.25,-0.00,7.00,0.25,-0.00,6.96,0.19,-0.00,6.96,0.19,
-0.00,3.66,-3.23,-0.00,3.66,-3.23,-0.00,3.70,-3.18,-0.00,3.70,-3.18,-0.00,3.66,-3.23,-0.00,3.66,-3.23,
-0.00,0.35,-6.59,-0.00,0.35,-6.59,-0.00,0.39,-6.54,-0.00,0.39,-6.54,-0.00,0.35,-6.59,-0.00,0.35,-6.59,
-0.00,-2.98,-9.89,-0.00,-2.98,-9.89,-0.00,-2.95,-9.84,-0.00,-2.95,-9.84,-0.00,-2.98,-9.89,-0.00,-2.98,-9.89,
-0.00,-6.35,-13.14,-0.00,-6.35,-13.14,-0.00,-6.32,-13.10,-0.00,-6.32,-13.10,-0.00,-6.35,-13.14,-0.00,-6.35,-13.14,
-0.00,-9.76,-16.35,-0.00,-9.76,-16.35,-0.00,-9.73,-16.32,-0.00,-9.73,-16.32,-0.00,-9.76,-16.35,-0.00,-9.76,-16.35,
-0.00,-13.22,-19.53,-0.00,-13.22,-19.53,-0.00,-13.20,-19.50,-0.00,-13.20,-19.50,-0.00,-13.22,-19.53,-0.00,-13.22,-19.53,
-0.00,-16.76,-22.69,-0.00,-16.76,-22.69,-0.00,-16.74,-22.66,-0.00,-16.74,-22.66,-0.00,-16.76,-22.69,-0.00,-16.76,-22.69,
-0.00,-20.39,-25.84,-0.00,-20.39,-25.84,-0.00,-20.37,-25.81,-0.00,-20.37,-25.81,-0.00,-20.39,-25.84,-0.00,-20.39,-25.84,
-0.00,-24.11,-28.98,-0.00,-24.11,-28.98,-0.00,-24.10,-28.96,-0.00,-24.10,-28.96,-0.00,-24.11,-28.98,-0.00,-24.11,-28.98,
-0.00,-27.96,-32.12,-0.00,-27.96,-32.12,-0.00,-27.95,-32.11,-0.00,-27.95,-32.11,-0.00,-27.96,-32.12,-0.00,-27.96,-32.12,
-0.00,-31.94,-35.29,-0.00,-31.94,-35.29,-0.00,-31.93,-35.28,-0.00,-31.93,-35.28,-0.00,-31.94,-35.29,-0.00,-31.94,-35.29,
-0.00,-36.09,-38.48,-0.00,-36.09,-38.48,-0.00,-36.08,-38.47,-0.00,-36.08,-38.47,-0.00,-36.09,-38.48,-0.00,-36.09,-38.48,
-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,-0.00,-40.43,-41.71,
-0.00,-45.00,-45.00,0.00,-45.00,-45.00,-0.00,-45.00,-45.00,-0.00,-45.00,-45.00,-0.00,-45.00,-45.00,-0.00,-45.00,-45.00
};
